CN104057459A - Device and method for intelligently sorting workpieces by robot - Google Patents
Device and method for intelligently sorting workpieces by robot Download PDFInfo
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- CN104057459A CN104057459A CN201410294184.7A CN201410294184A CN104057459A CN 104057459 A CN104057459 A CN 104057459A CN 201410294184 A CN201410294184 A CN 201410294184A CN 104057459 A CN104057459 A CN 104057459A
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Abstract
The invention discloses a device and a method for intelligently sorting workpieces by a robot, and belongs to the technical field of automation. The device comprises the robot, a visual recognition mechanism and a material tray, wherein the visual recognition mechanism comprises an industrial camera for shooting the image of the workpieces arranged on the material tray and the material tray and a controller for recognizing whether interference occurs in the peripheral zones of the workpieces in the image; the industrial camera is connected with the controller; the controller is connected with the robot; the controller is used for controlling the robot to grasp the workpieces on the material tray through paws. If no interference occurs in the peripheral zones of the workpieces in the image, the robot is controlled by the controller to grasp the workpieces on the material tray through the paws. According to the technical scheme, the operation for grasping the workpieces is completed by the robot safely, stably, continuously, reliably and automatically, so that the whole robot system is higher in intelligence, safety and reliability, and the application range and work environment of the robot are enlarged.
Description
Technical field
The invention belongs to mechanical automation technical field, relate to a kind of device that sorts workpiece, relate in particular to a kind of device and method of intelligent robot sorting workpiece.
Background technology
At present, because the robot of prior art and system is when the grabbing workpiece, cannot detects and determine paw and whether can move interference with other workpiece of crawled workpiece periphery.Therefore, during for fear of robot grabbing workpiece, move interference, under prior art condition, normally workpiece is first fitly placed in specific charging tray, make workpiece have to each other enough large spacing, thereby guaranteed that paw can not encounter other workpiece around when grabbing workpiece.
During the robot hand grabbing workpiece of prior art and system, may or partly overlap due to adjacent workpieces hypotelorism and cause the finger of paw and adjacent workpieces to move interference.As shown in fig. 1, because A, B, tri-workpiece of C are at a distance of excessively near, when paw captures wherein any one workpiece with diagram posture, the finger of paw all can move interference with adjacent workpieces, finger bumps with workpiece, and this will cause workpiece, paw, even the damage of robot.
Therefore, first the device of the sorting workpiece of prior art and system needs workpiece is neat and has being placed in charging tray of enough large spacing, or in certain jig, can not optionally calculate to leave about and put.This causes needing charging tray in system, also needs manually workpiece to be fitly placed in charging tray, and this has caused production cost increase, and automaticity reduces.
Summary of the invention
In view of this, the invention provides a kind of implement device and implementation method of avoiding movement interference to occur, make whole robot system there is higher intelligent, security and stability, expanded range of application and the working environment of robot, made robot system can complete over the task that can not complete.
For achieving the above object, concrete technical scheme is as follows:
On the one hand, a kind of device of intelligent robot sorting workpiece is provided, sorting for the workpiece put at random, comprise robot, visual identity mechanism and charging tray, described workpiece is placed on described charging tray, described robot is provided with the paw of grabbing workpiece, described vision sets mechanism and comprises that picked-up is placed in the industrial camera of image of workpiece on charging tray and charging tray and the controller whether identification described image workpiece neighboring area interferes, described industrial camera is connected with described controller, described controller is connected with described robot, described controller is controlled described robot and is captured the workpiece on described charging tray by described paw.
Preferably, on described charging tray, the gray value of the surperficial gray value adjacent from described workpiece and described workpiece is different.
Preferably, when described controller identifies in described image that the gray value of workpiece neighboring area is identical with the gray value of described charging tray, described controller is controlled paw and is captured the workpiece on charging tray.
Preferably, in the described image that described controller is identified, the neighboring area of workpiece is equal to or greater than the sectional area of the crawl section of described paw.
Preferably, be also provided with rotating mechanism on described charging tray, described rotating mechanism drives described charging tray and is placed in the workpiece rotation on described charging tray.
Preferably, when described controller identifies in described image that the gray value of workpiece neighboring area is different with the gray value of described charging tray, described rotating mechanism drives described charging tray and is placed in the workpiece rotation on described charging tray.
Preferably, be also provided with percussion mechanism on described charging tray, when described controller identifies in described image that the gray value of workpiece neighboring area is different with the gray value of described charging tray, described percussion mechanism drives described charging tray vibrations.
Preferably, also comprise workpiece feed bin, described workpiece feed bin is connected with described charging tray.
Preferably, also comprise conveyer belt, described workpiece feed bin is connected with described charging tray by described conveyer belt.
On the other hand, provide a kind of sorting workpiece method of device of intelligent robot sorting workpiece described above, comprised the steps:
Step 1, is placed in described workpiece on described charging tray at random;
Step 2, described vision sets the picked-up of industrial camera in mechanism and comprises the workpiece that is placed on charging tray and the image of charging tray;
Step 3, whether described vision sets controller in mechanism and identifies workpiece neighboring area in described image and interfere;
Step 4, if workpiece neighboring area does not interfere in image, described controller is controlled described robot and is captured the workpiece on described charging tray by described paw.
With respect to prior art, technical scheme of the present invention has guaranteed that robot security stablizes, automatically completes reliably continuously workpiece grabbing operation, make whole robot system there is higher intelligent, security and stability, expanded range of application and the working environment of robot, made robot system can complete over the task that can not complete.
Accompanying drawing explanation
The accompanying drawing that forms a part of the present invention is used to provide a further understanding of the present invention, and schematic description and description of the present invention is used for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the structural representation of prior art sorting workpiece;
Fig. 2 is the structural representation of the device of the embodiment of the present invention;
Fig. 3 is the structural representation of the paw of the embodiment of the present invention;
Fig. 4 is that the workpiece of the embodiment of the present invention is put hands-off structural representation;
Fig. 5 is the structural representation that the workpiece of the embodiment of the present invention is put interference.
The specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
It should be noted that, in the situation that not conflicting, embodiment and the feature in embodiment in the present invention can combine mutually.
Below with reference to accompanying drawing, embodiments of the invention are done to concrete explaination.
The device of the intelligent robot of embodiments of the invention sorting workpiece as shown in Figure 2, for the sorting of the workpiece 1 put at random.It comprises robot 2, visual identity mechanism and charging tray 3.Workpiece 1 is placed on charging tray 3.And combination as shown in Figure 3, robot 2 is provided with the paw 4 of grabbing workpiece 1.Vision sets mechanism and comprises that picked-up comprises the industrial camera 5 of image of the workpiece 1 that is placed on charging tray 3 and charging tray 3 and the controller whether recognition image workpiece 1 neighboring area interferes.Industrial camera 5 is connected with controller, and controller is connected with robot 2.The workpiece 1 that controller control 2 captures on charging tray 3 by paw 4.
The intelligent robot sorting workpiece method of embodiments of the invention, comprises the steps:
Step 1, is placed in workpiece 1 on charging tray 3 at random;
Step 2, vision sets 5 picked-ups of industrial camera in mechanism and comprises the workpiece that is placed on charging tray 3 and the image of 1 charging tray 3;
Step 3, whether vision sets workpiece 1 neighboring area in the controller recognition image in mechanism and interferes;
Step 4, if workpiece neighboring area does not interfere in image, the workpiece 1 that controller control 2 captures on charging tray 3 by paw 4.
The embodiment of the present invention has guaranteed that robot security stablizes, automatically completes reliably continuously workpiece grabbing operation, make whole robot system there is higher intelligent, security and stability, expanded range of application and the working environment of robot, made robot system can complete over the task that can not complete.
Interference in embodiments of the invention refers to when paw captures target workpiece, and bumps with the periphery generation object of target workpiece.Therefore embodiments of the invention, before robot grabbing workpiece, must detect and judge whether above-mentioned movement interference situation can occur.Only have definite paw can not move interference with adjacent workpieces in whole crawl process, the machine talent can implement grasping manipulation.
As shown in Figure 3, the paw 4 of the preferred robot of embodiments of the invention is two finger translation paws, and preferably workpiece 1 is screw.Respectively as shown in Figures 4 and 5, in Fig. 4, three screw proper alignment are placed; In Fig. 5, three screw placements at random.
Supposing that robot is current will capture the screw 14 in screw 11 and Fig. 4 in Fig. 4, and paw vertically falls and captures directly over screw.Before paw closure, the view field of two fingers of paw in screw placement plane is respectively a and b, as shown in a in Fig. 4 and b region.For the screw 11 placement situations shown in Fig. 4, a of view field of two finger motion locus and b are not all blocked by other workpiece of periphery, so screw 11 can be captured interferingly by nothing.For the screw 14 placement situations shown in Fig. 5, the a of view field of two finger motion locus and b are respectively by screw 13 and screw 15 partial occlusions, therefore paw is when capturing screw 14, one side finger can be encountered screw 13, opposite side finger can be encountered screw 15, and paw can move interference with other workpiece of crawled screw 14 both sides.
Therefore, when embodiments of the invention are used two finger translation paws to capture screw class workpiece, if before paw closure, two fingers a of view field and b in screw placement plane do not blocked by other workpiece, and screw can be by safety without capturing interferingly; If view field is by other workpiece partial occlusions, paw can move interference with other workpiece of crawled screw both sides, and paw cannot carry out grasping manipulation safely.Embodiments of the invention are by detecting screw neighboring area, be preferably a of finger view field of the left and right sides and the circumstance of occlusion of b, and neighboring area is equal to or greater than the sectional area of the crawl section of paw 4, using this as the condition that judges whether to capture safely this screw.
As shown in Figure 2, in an embodiment of the present invention, preferably by the method for machine vision, even take workpiece to be captured with industrial camera 5, the method for the image recognition by controller is determined position and the interference situation of workpiece.
For the state shown in Fig. 4, industrial camera 5 take pictures after a and the b region image in photo be the image of screw place charging tray upper surface; For the state shown in Fig. 5, camera take pictures after a and the b region image part in photo be to close on the image on screw surface, another part is the image of charging tray 3 upper surfaces.When the difference of screw surface image and charging tray 3 upper surface image is larger, just can judges presence of interference situation by vision detection technology and occur.
In addition, in an embodiment of the present invention, preferably by gray value, relatively judge whether to there is difference.In the photo of shooting at industrial camera 5, when screw surface image gray value and charging tray 3 upper surface image gray values are distinguished when obvious, in Fig. 4, in screw 11 and Fig. 5, the average gray value in a of screw 14, b region also will inevitably be distinguished to some extent, by detecting the average gray value in a and b region, can judge the situation that whether has interference.
In addition, as shown in Figure 2, in these embodiments of the invention, preferably also comprise and on charging tray 3, be also provided with rotating mechanism and percussion mechanism.When in controller recognition image, the gray value of the gray value of workpiece neighboring area and charging tray 3 is different, rotating mechanism drives charging tray 3 and is placed in workpiece 1 rotation on charging tray 3, or percussion mechanism drives charging tray vibrations.Preferably, also comprise workpiece feed bin 6 and conveyer belt 7, workpiece feed bin 6 is connected with charging tray 3 by conveyer belt 7.
As shown in Figure 2, in an embodiment of the present invention, robot 2 carries two finger translation paws 4, by the industrial camera 5 of machine vision, detects the workpiece 1 in charging tray 3.Complete visual identity, differentiate when paw 4 goes to capture the workpiece 1 detecting, whether can move interference with other workpiece 1 of periphery.If find that there is the workpiece 1 that does not move interference, robot 2 directly removes grabbing workpiece 1, then puts into the placement location of appointment.
If vision-based detection to all workpiece 1 all can cause the generation of movement interference while capturing, for example four screws are together adjacent each other, paw 4 all will inevitably collide other screws when capturing any screw.Now, robot 2 no longer carries out grasping manipulation, controller will allow the percussion mechanism work of charging tray 3, at percussion mechanism, drive under the shock effect of charging tray 3, its surperficial place work piece 1 will occur random mobile, cause workpiece 1 change in location, make adjacent screw separated from one another, when capturing wherein certain screw, paw 4 and other workpiece 1 may just can not move interference more like this.
When the workpiece 1 in the vision-based detection region on charging tray 3 surfaces reduces to a certain degree, preferably by the area sum different from workpiece 1 gray scale, being greater than preset value judges, controller will be controlled workpiece feed bin 6 valve openings, discharge a certain amount of workpiece 1, preferably by electrotimer, control, by calculating in advance workpiece 1, through the quota amount time of material mouth, control, workpiece 1 is transported on charging tray 3 by conveyer belt 7.The rotation of the rotating mechanism by charging tray 3 again, by newly supplementary changing of workpieces to industrial camera 5 within sweep of the eye, like this this charging tray workpiece radio frequency just with security and stability continuous automatic operation go down.
Above specific embodiments of the invention be have been described in detail, but it is just as example, the present invention is not restricted to specific embodiment described above.To those skilled in the art, any equivalent modifications that the present invention is carried out and alternative also all among category of the present invention.Therefore, equalization conversion and the modification done without departing from the spirit and scope of the invention, all should contain within the scope of the invention.
Claims (10)
1. the device of intelligent robot sorting workpiece, the sorting of the workpiece that is applicable to put at random, it is characterized in that, comprise robot, visual identity mechanism and charging tray, described workpiece is placed on described charging tray, described robot is provided with the paw of grabbing workpiece, described vision sets mechanism and comprises that picked-up is placed in the industrial camera of image of workpiece on charging tray and charging tray and the controller whether identification described image workpiece neighboring area interferes, described industrial camera is connected with described controller, described controller is connected with described robot, described controller is controlled described robot and is captured the workpiece on described charging tray by described paw.
2. the device of intelligent robot as claimed in claim 1 sorting workpiece, is characterized in that, on described charging tray, the gray value of the surperficial gray value adjacent from described workpiece and described workpiece is different.
3. intelligent robot as claimed in claim 2 sorts the device of workpiece, it is characterized in that, when described controller identifies in described image that the gray value of workpiece neighboring area is identical with the gray value of described charging tray, described controller is controlled paw and is captured the workpiece on charging tray.
4. the device of intelligent robot sorting workpiece as claimed in claim 3, is characterized in that, in the described image of described controller identification, the neighboring area of workpiece is equal to or greater than the sectional area of the crawl section of described paw.
5. the device of intelligent robot sorting workpiece as claimed in claim 4, is characterized in that, is also provided with rotating mechanism on described charging tray, and described rotating mechanism drives described charging tray and is placed in the workpiece rotation on described charging tray.
6. intelligent robot as claimed in claim 5 sorts the device of workpiece, it is characterized in that, when described controller identifies in described image that the gray value of workpiece neighboring area is different with the gray value of described charging tray, described rotating mechanism drives described charging tray and is placed in the workpiece rotation on described charging tray.
7. intelligent robot as claimed in claim 6 sorts the device of workpiece, it is characterized in that, on described charging tray, be also provided with percussion mechanism, when described controller identifies in described image that the gray value of workpiece neighboring area is different with the gray value of described charging tray, described percussion mechanism drives described charging tray vibrations.
8. the device of intelligent robot sorting workpiece as claimed in claim 7, is characterized in that, also comprise workpiece feed bin, described workpiece feed bin is connected with described charging tray.
9. the device of intelligent robot sorting workpiece as claimed in claim 8, is characterized in that, also comprise conveyer belt, described workpiece feed bin is connected with described charging tray by described conveyer belt.
10. an intelligent robot sorting workpiece method for the device of intelligent robot sorting workpiece as claimed in claim 1, is characterized in that, comprises the steps:
Step 1, is placed in described workpiece on described charging tray at random;
Step 2, described vision sets the picked-up of industrial camera in mechanism and comprises the workpiece that is placed on charging tray and the image of charging tray;
Step 3, whether described vision sets controller in mechanism and identifies workpiece neighboring area in described image and interfere;
Step 4, if workpiece neighboring area does not interfere in image, described controller is controlled described robot and is captured the workpiece on described charging tray by described paw.
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| CN201410294184.7A CN104057459B (en) | 2014-06-25 | 2014-06-25 | Device and method for intelligently sorting workpieces by robot |
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| CN201410294184.7A CN104057459B (en) | 2014-06-25 | 2014-06-25 | Device and method for intelligently sorting workpieces by robot |
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| CN104400788A (en) * | 2014-12-03 | 2015-03-11 | 安徽省库仑动力自动化科技有限公司 | Visual identity robot system for dismantling waste lead battery |
| CN104440635A (en) * | 2014-12-04 | 2015-03-25 | 张和庆 | Core ring sorting, grasping and fixing tool used in grinding wheel production |
| CN105066963A (en) * | 2015-07-23 | 2015-11-18 | 上海应用技术学院 | Visual sense detection apparatus for nail protruding from wood pallet |
| CN106347740A (en) * | 2016-11-04 | 2017-01-25 | 武汉人天机器人工程有限公司 | Bottle blank robot sorting and tidying box charging system |
| CN106364903A (en) * | 2016-08-18 | 2017-02-01 | 上海交通大学 | Monocular three-dimensional vision sorting method for stacked workpieces |
| CN106493731A (en) * | 2016-10-18 | 2017-03-15 | 上海发那科机器人有限公司 | A kind of use robot 3D visions realize that brake disc tears the method that stamps open |
| FR3043076A1 (en) * | 2015-11-02 | 2017-05-05 | Expertise Vision | INDIVIDUALIZATION DEVICE FOR LITTLE BULK OBJECTS |
| CN108080289A (en) * | 2018-01-22 | 2018-05-29 | 广东省智能制造研究所 | Robot sorting system, robot sorting control method and device |
| CN108126914A (en) * | 2017-11-24 | 2018-06-08 | 上海发那科机器人有限公司 | More object robots method for sorting at random in a kind of material frame based on deep learning |
| CN108214553A (en) * | 2018-01-12 | 2018-06-29 | 瑞银国际物流（江苏）有限公司 | A kind of draft gear of transfer robot |
| CN109079825A (en) * | 2017-06-14 | 2018-12-25 | 天津玛斯特车身装备技术有限公司 | Robot automation's visual grasping system |
| CN110576449A (en) * | 2018-06-08 | 2019-12-17 | 发那科株式会社 | Robot system and control method for robot system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104400788A (en) * | 2014-12-03 | 2015-03-11 | 安徽省库仑动力自动化科技有限公司 | Visual identity robot system for dismantling waste lead battery |
| CN104440635A (en) * | 2014-12-04 | 2015-03-25 | 张和庆 | Core ring sorting, grasping and fixing tool used in grinding wheel production |
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| US11222417B2 (en) * | 2017-03-06 | 2022-01-11 | Fuji Corporation | Data structure for creating image-processing data and method for creating image-processing data |
| CN109079825A (en) * | 2017-06-14 | 2018-12-25 | 天津玛斯特车身装备技术有限公司 | Robot automation's visual grasping system |
| CN108126914A (en) * | 2017-11-24 | 2018-06-08 | 上海发那科机器人有限公司 | More object robots method for sorting at random in a kind of material frame based on deep learning |
| CN108214553A (en) * | 2018-01-12 | 2018-06-29 | 瑞银国际物流（江苏）有限公司 | A kind of draft gear of transfer robot |
| CN108080289A (en) * | 2018-01-22 | 2018-05-29 | 广东省智能制造研究所 | Robot sorting system, robot sorting control method and device |
| CN110576449A (en) * | 2018-06-08 | 2019-12-17 | 发那科株式会社 | Robot system and control method for robot system |
| CN110576449B (en) * | 2018-06-08 | 2023-01-10 | 发那科株式会社 | Robot system and control method for robot system |
| EP4101584A1 (en) * | 2021-06-08 | 2022-12-14 | Dürr Assembly Products GmbH | Device for gripping elongated fastening elements from an unordered store |
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